urtware / inc / urt_node.h @ f86427e8
History | View | Annotate | Download (4.209 KB)
| 1 |
/*
|
|---|---|
| 2 |
µRtWare is a lightweight publish/subscribe middleware for real-time
|
| 3 |
applications. It was developed as part of the software habitat for the
|
| 4 |
Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
|
| 5 |
|
| 6 |
Copyright (C) 2018..2020 Thomas Schöpping et al.
|
| 7 |
|
| 8 |
This program is free software: you can redistribute it and/or modify
|
| 9 |
it under the terms of the GNU General Public License as published by
|
| 10 |
the Free Software Foundation, either version 3 of the License, or
|
| 11 |
(at your option) any later version.
|
| 12 |
|
| 13 |
This program is distributed in the hope that it will be useful,
|
| 14 |
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
| 15 |
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
| 16 |
GNU General Public License for more details.
|
| 17 |
|
| 18 |
You should have received a copy of the GNU General Public License
|
| 19 |
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
| 20 |
*/
|
| 21 |
|
| 22 |
#ifndef URTWARE_NODE_H
|
| 23 |
#define URTWARE_NODE_H
|
| 24 |
|
| 25 |
#include <urtware.h> |
| 26 |
|
| 27 |
/******************************************************************************/
|
| 28 |
/* CONSTANTS */
|
| 29 |
/******************************************************************************/
|
| 30 |
|
| 31 |
/******************************************************************************/
|
| 32 |
/* SETTINGS */
|
| 33 |
/******************************************************************************/
|
| 34 |
|
| 35 |
/******************************************************************************/
|
| 36 |
/* CHECKS */
|
| 37 |
/******************************************************************************/
|
| 38 |
|
| 39 |
/******************************************************************************/
|
| 40 |
/* DATA STRUCTURES AND TYPES */
|
| 41 |
/******************************************************************************/
|
| 42 |
|
| 43 |
/*
|
| 44 |
* forward declarations
|
| 45 |
*/
|
| 46 |
typedef struct urt_node urt_node_t; |
| 47 |
|
| 48 |
/**
|
| 49 |
* @brief
|
| 50 |
*
|
| 51 |
* @param[in] node .
|
| 52 |
* @param[in] cause .
|
| 53 |
* @param[in] arg .
|
| 54 |
*
|
| 55 |
* @return .
|
| 56 |
*
|
| 57 |
*/
|
| 58 |
typedef void (*urt_nodeShutdownCallback_t)(urt_node_t* node, urt_status_t cause, void* arg); |
| 59 |
|
| 60 |
|
| 61 |
/**
|
| 62 |
* @brief
|
| 63 |
*
|
| 64 |
* @param[in] node .
|
| 65 |
* @param[in] arg .
|
| 66 |
*
|
| 67 |
* @return .
|
| 68 |
*
|
| 69 |
*/
|
| 70 |
typedef urt_osEventMask_t (*urt_nodeSetupCallback_t)(urt_node_t* node, void* arg); |
| 71 |
|
| 72 |
|
| 73 |
/**
|
| 74 |
* @brief
|
| 75 |
*
|
| 76 |
* @param[in] node .
|
| 77 |
* @param[in] events .
|
| 78 |
* @param[in] arg .
|
| 79 |
*
|
| 80 |
* @return .
|
| 81 |
*/
|
| 82 |
typedef urt_osEventMask_t (*urt_nodeLoopCallback_t)(urt_node_t* node, urt_osEventMask_t events, void* arg); |
| 83 |
|
| 84 |
/**
|
| 85 |
* @brief node
|
| 86 |
*/
|
| 87 |
struct urt_node
|
| 88 |
{
|
| 89 |
struct urt_node* next;
|
| 90 |
urt_osThread_t* thread; |
| 91 |
urt_nodeSetupCallback_t setupcallback; |
| 92 |
void* setupparams;
|
| 93 |
urt_nodeLoopCallback_t loopcallback; |
| 94 |
void* loopparams;
|
| 95 |
urt_nodeShutdownCallback_t shutdowncallback; |
| 96 |
void* shutdownparams;
|
| 97 |
urt_nodestage_t stage; |
| 98 |
urt_osEventListener_t listener; |
| 99 |
#if (URT_CFG_PUBSUB_PROFILING || URT_CFG_RPC_PROFILING)
|
| 100 |
uint64_t loops; |
| 101 |
#endif /* URT_CFG_PUBSUB_PROFILING || URT_CFG_RPC_PROFILING */ |
| 102 |
}; |
| 103 |
|
| 104 |
|
| 105 |
/******************************************************************************/
|
| 106 |
/* MACROS */
|
| 107 |
/******************************************************************************/
|
| 108 |
|
| 109 |
/******************************************************************************/
|
| 110 |
/* EXTERN DECLARATIONS */
|
| 111 |
/******************************************************************************/
|
| 112 |
|
| 113 |
#if defined(__cplusplus)
|
| 114 |
extern "C" { |
| 115 |
#endif /* defined(__cplusplus) */ |
| 116 |
|
| 117 |
void urtNodeInit(urt_node_t* node, urt_osThread_t* thread, urt_osThreadPrio_t prio, urt_nodeSetupCallback_t setupcallback,
|
| 118 |
void* setupparams, urt_nodeLoopCallback_t loopcallback, void* loopparams, |
| 119 |
urt_nodeShutdownCallback_t shutdowncallback, void* shutdownparams);
|
| 120 |
#if defined(__cplusplus)
|
| 121 |
} |
| 122 |
#endif /* defined(__cplusplus) */ |
| 123 |
|
| 124 |
/******************************************************************************/
|
| 125 |
/* INLINE FUNCTIONS */
|
| 126 |
/******************************************************************************/
|
| 127 |
|
| 128 |
#endif /* URTWARE_NODE_H */ |